#ifndef _VISION_H
#define _VISION_H

#include "WPILib.h"
#include "nivision.h"
#include "Threshold.h"
#include "DefaultRobot.h"
#include "types.h"
 class Vision 
{
public:
	Vision();
	point_t TopHoop(HSLImage* img);
	~Vision();
	ParticleFilterCriteria FilterCriteria;
	static const ParticleFilterCriteria2 FilterCriteria2[];	
	static const ParticleFilterOptions2 *FilterOptions2;
	MeasureParticlesReport* AnalysisReport;
	int criteriaCount, filterCount;
private:
	Threshold* HSLMask;
	MeasureParticlesCalibrationMode calibrationMode;
	const MeasurementType *measurements;
	const ROI* roi; //reagion of interest
	size_t numMeasurements;
	point_t SolveEverything(HSLImage* img);
};

#endif
